mirror of
https://github.com/pascallanger/DIY-Multiprotocol-TX-Module.git
synced 2025-02-04 21:08:12 +00:00
781 lines
19 KiB
C
781 lines
19 KiB
C
/*
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This project is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Multiprotocol is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
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*/
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//******************
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// Version
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//******************
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#define VERSION_MAJOR 1
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#define VERSION_MINOR 1
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#define VERSION_REVISION 6
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#define VERSION_PATCH_LEVEL 30
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//******************
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// Protocols
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//******************
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enum PROTOCOLS
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{
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MODE_SERIAL = 0, // Serial commands
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MODE_FLYSKY = 1, // =>A7105
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MODE_HUBSAN = 2, // =>A7105
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MODE_FRSKYD = 3, // =>CC2500
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MODE_HISKY = 4, // =>NRF24L01
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MODE_V2X2 = 5, // =>NRF24L01
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MODE_DSM = 6, // =>CYRF6936
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MODE_DEVO = 7, // =>CYRF6936
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MODE_YD717 = 8, // =>NRF24L01
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MODE_KN = 9, // =>NRF24L01
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MODE_SYMAX = 10, // =>NRF24L01
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MODE_SLT = 11, // =>NRF24L01
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MODE_CX10 = 12, // =>NRF24L01
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MODE_CG023 = 13, // =>NRF24L01
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MODE_BAYANG = 14, // =>NRF24L01
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MODE_FRSKYX = 15, // =>CC2500
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MODE_ESKY = 16, // =>NRF24L01
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MODE_MT99XX = 17, // =>NRF24L01
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MODE_MJXQ = 18, // =>NRF24L01
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MODE_SHENQI = 19, // =>NRF24L01
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MODE_FY326 = 20, // =>NRF24L01
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MODE_SFHSS = 21, // =>CC2500
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MODE_J6PRO = 22, // =>CYRF6936
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MODE_FQ777 = 23, // =>NRF24L01
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MODE_ASSAN = 24, // =>NRF24L01
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MODE_FRSKYV = 25, // =>CC2500
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MODE_HONTAI = 26, // =>NRF24L01
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MODE_OPENLRS = 27, // =>OpenLRS hardware
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MODE_AFHDS2A = 28, // =>A7105
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MODE_Q2X2 = 29, // =>NRF24L01, extension of CX-10 protocol
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MODE_WK2x01 = 30, // =>CYRF6936
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MODE_Q303 = 31, // =>NRF24L01
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MODE_GW008 = 32, // =>NRF24L01
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MODE_DM002 = 33, // =>NRF24L01
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MODE_CABELL = 34, // =>NRF24L01
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};
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enum Flysky
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{
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Flysky = 0,
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V9X9 = 1,
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V6X6 = 2,
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V912 = 3,
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CX20 = 4
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};
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enum AFHDS2A
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{
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PWM_IBUS = 0,
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PPM_IBUS = 1,
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PWM_SBUS = 2,
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PPM_SBUS = 3,
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};
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enum Hisky
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{
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Hisky = 0,
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HK310 = 1
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};
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enum DSM
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{
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DSM2_22 = 0,
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DSM2_11 = 1,
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DSMX_22 = 2,
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DSMX_11 = 3,
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DSM_AUTO = 4
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};
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enum YD717
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{
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YD717 = 0,
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SKYWLKR = 1,
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SYMAX4 = 2,
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XINXUN = 3,
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NIHUI = 4
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};
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enum KN
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{
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WLTOYS = 0,
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FEILUN = 1
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};
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enum SYMAX
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{
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SYMAX = 0,
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SYMAX5C = 1
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};
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enum SLT
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{
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SLT = 0,
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VISTA = 1
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};
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enum CX10
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{
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CX10_GREEN = 0,
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CX10_BLUE = 1, // also compatible with CX10-A, CX12
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DM007 = 2,
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JC3015_1 = 4,
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JC3015_2 = 5,
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MK33041 = 6,
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};
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enum Q2X2
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{
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Q222 = 8,
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Q242 = 9,
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Q282 = 10,
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};
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enum CG023
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{
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CG023 = 0,
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YD829 = 1,
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H8_3D = 2
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};
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enum BAYANG
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{
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BAYANG = 0,
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H8S3D = 1,
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X16_AH = 2,
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};
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enum MT99XX
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{
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MT99 = 0,
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H7 = 1,
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YZ = 2,
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LS = 3,
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FY805 = 4
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};
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enum MJXQ
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{
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WLH08 = 0,
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X600 = 1,
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X800 = 2,
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H26D = 3,
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E010 = 4,
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H26WH = 5,
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};
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enum FRSKYX
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{
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CH_16 = 0,
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CH_8 = 1,
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EU_16 = 2,
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EU_8 = 3,
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};
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enum HONTAI
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{
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FORMAT_HONTAI = 0,
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FORMAT_JJRCX1 = 1,
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FORMAT_X5C1 = 2,
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FORMAT_FQ777_951 =3
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};
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enum V2X2
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{
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V2X2 = 0,
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JXD506 = 1,
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};
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enum FY326
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{
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FY326 = 0,
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FY319 = 1,
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};
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enum WK2x01
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{
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WK2801 = 0,
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WK2401 = 1,
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W6_5_1 = 2,
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W6_6_1 = 3,
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W6_HEL = 4,
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W6_HEL_I= 5,
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};
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enum Q303
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{
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Q303 = 0,
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CX35 = 1,
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CX10D = 2,
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CX10WD = 3,
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};
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enum CABELL
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{
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CABELL_V3 = 0,
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CABELL_V3_TELEMETRY = 1,
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CABELL_SET_FAIL_SAFE= 6,
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CABELL_UNBIND = 7,
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};
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#define NONE 0
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#define P_HIGH 1
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#define P_LOW 0
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#define AUTOBIND 1
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#define NO_AUTOBIND 0
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struct PPM_Parameters
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{
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uint8_t protocol : 6;
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uint8_t sub_proto : 3;
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uint8_t rx_num : 4;
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uint8_t power : 1;
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uint8_t autobind : 1;
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uint8_t option;
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};
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// Telemetry
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enum MultiPacketTypes {
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MULTI_TELEMETRY_STATUS = 1,
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MULTI_TELEMETRY_SPORT = 2,
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MULTI_TELEMETRY_HUB = 3,
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MULTI_TELEMETRY_DSM = 4,
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MULTI_TELEMETRY_DSMBIND = 5,
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MULTI_TELEMETRY_AFHDS2A = 6,
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MULTI_TELEMETRY_INPUTSYNC=8,
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MULTI_COMMAND_CONFIG = 0x80,
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MULTI_COMMAND_FAILSAFE =0x81,
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};
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enum FailSafeMode {
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FAILSAFE_NOTSET = 0,
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FAILSAFE_HOLD = 1,
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FAILSAFE_CUSTOM = 2,
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FAILSAFE_NOPULSES = 3,
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FAILSAFE_RECEIVER = 4,
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// Use during update so we can get away with only one copy of Failsafe channels
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FAILSEFASE_INVALID = 0xfe
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};
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#define FAILSAFE_CHANNEL_HOLD 0
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#define FAILSAFE_CHANNEL_NOPULSES 2047
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// Macros
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#define NOP() __asm__ __volatile__("nop")
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//***************
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//*** Flags ***
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//***************
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#define RX_FLAG_on protocol_flags |= _BV(0)
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#define RX_FLAG_off protocol_flags &= ~_BV(0)
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#define IS_RX_FLAG_on ( ( protocol_flags & _BV(0) ) !=0 )
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//
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#define CHANGE_PROTOCOL_FLAG_on protocol_flags |= _BV(1)
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#define CHANGE_PROTOCOL_FLAG_off protocol_flags &= ~_BV(1)
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#define IS_CHANGE_PROTOCOL_FLAG_on ( ( protocol_flags & _BV(1) ) !=0 )
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//
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#define POWER_FLAG_on protocol_flags |= _BV(2)
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#define POWER_FLAG_off protocol_flags &= ~_BV(2)
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#define IS_POWER_FLAG_on ( ( protocol_flags & _BV(2) ) !=0 )
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//
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#define RANGE_FLAG_on protocol_flags |= _BV(3)
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#define RANGE_FLAG_off protocol_flags &= ~_BV(3)
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#define IS_RANGE_FLAG_on ( ( protocol_flags & _BV(3) ) !=0 )
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//
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#define AUTOBIND_FLAG_on protocol_flags |= _BV(4)
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#define AUTOBIND_FLAG_off protocol_flags &= ~_BV(4)
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#define IS_AUTOBIND_FLAG_on ( ( protocol_flags & _BV(4) ) !=0 )
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//
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#define BIND_BUTTON_FLAG_on protocol_flags |= _BV(5)
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#define BIND_BUTTON_FLAG_off protocol_flags &= ~_BV(5)
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#define IS_BIND_BUTTON_FLAG_on ( ( protocol_flags & _BV(5) ) !=0 )
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//PPM RX OK
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#define PPM_FLAG_off protocol_flags &= ~_BV(6)
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#define PPM_FLAG_on protocol_flags |= _BV(6)
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#define IS_PPM_FLAG_on ( ( protocol_flags & _BV(6) ) !=0 )
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//Bind flag
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#define BIND_IN_PROGRESS protocol_flags &= ~_BV(7)
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#define BIND_DONE protocol_flags |= _BV(7)
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#define IS_BIND_DONE_on ( ( protocol_flags & _BV(7) ) !=0 )
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//
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#define BAD_PROTO_off protocol_flags2 &= ~_BV(0)
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#define BAD_PROTO_on protocol_flags2 |= _BV(0)
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#define IS_BAD_PROTO_on ( ( protocol_flags2 & _BV(0) ) !=0 )
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//
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#define RX_DONOTUPDTAE_off protocol_flags2 &= ~_BV(1)
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#define RX_DONOTUPDTAE_on protocol_flags2 |= _BV(1)
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#define IS_RX_DONOTUPDTAE_on ( ( protocol_flags2 & _BV(1) ) !=0 )
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//
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#define RX_MISSED_BUFF_off protocol_flags2 &= ~_BV(2)
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#define RX_MISSED_BUFF_on protocol_flags2 |= _BV(2)
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#define IS_RX_MISSED_BUFF_on ( ( protocol_flags2 & _BV(2) ) !=0 )
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//TX Pause
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#define TX_MAIN_PAUSE_off protocol_flags2 &= ~_BV(3)
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#define TX_MAIN_PAUSE_on protocol_flags2 |= _BV(3)
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#define IS_TX_MAIN_PAUSE_on ( ( protocol_flags2 & _BV(3) ) !=0 )
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#define TX_RX_PAUSE_off protocol_flags2 &= ~_BV(4)
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#define TX_RX_PAUSE_on protocol_flags2 |= _BV(4)
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#define IS_TX_RX_PAUSE_on ( ( protocol_flags2 & _BV(4) ) !=0 )
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#define IS_TX_PAUSE_on ( ( protocol_flags2 & (_BV(4)|_BV(3)) ) !=0 )
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//Signal OK
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#define INPUT_SIGNAL_off protocol_flags2 &= ~_BV(5)
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#define INPUT_SIGNAL_on protocol_flags2 |= _BV(5)
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#define IS_INPUT_SIGNAL_on ( ( protocol_flags2 & _BV(5) ) !=0 )
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#define IS_INPUT_SIGNAL_off ( ( protocol_flags2 & _BV(5) ) ==0 )
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//Bind from channel
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#define BIND_CH_PREV_off protocol_flags2 &= ~_BV(6)
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#define BIND_CH_PREV_on protocol_flags2 |= _BV(6)
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#define IS_BIND_CH_PREV_on ( ( protocol_flags2 & _BV(6) ) !=0 )
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#define IS_BIND_CH_PREV_off ( ( protocol_flags2 & _BV(6) ) ==0 )
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//Wait for bind
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#define WAIT_BIND_off protocol_flags2 &= ~_BV(7)
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#define WAIT_BIND_on protocol_flags2 |= _BV(7)
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#define IS_WAIT_BIND_on ( ( protocol_flags2 & _BV(7) ) !=0 )
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#define IS_WAIT_BIND_off ( ( protocol_flags2 & _BV(7) ) ==0 )
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//Configuration
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#define IS_TELEMTRY_INVERSION_ON (multi_config & 0x01)
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#define IS_MULTI_TELEMETRY_ON (multi_config & 0x02)
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#define IS_EXTRA_TELEMETRY_ON (multi_config & 0x04)
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// Failsafe
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#define failsafeToPPM(i) (Failsafe_data[i]* 5/8+860)
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#define isNormalFailsafeChanel(i) (Failsafe_data[i] != FAILSAFE_CHANNEL_HOLD && Failsafe_data[i] != FAILSAFE_CHANNEL_NOPULSES)
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//Status messages
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#if defined(STM32_BOARD) && defined (SERIAL_DEBUG)
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#define debug(msg, ...) {char buf[64]; sprintf(buf, msg "\r\n", ##__VA_ARGS__); Serial.write(buf);}
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#else
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#define debug(...)
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#undef SERIAL_DEBUG
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#endif
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//********************
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//*** Blink timing ***
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//********************
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#define BLINK_BIND_TIME 100
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#define BLINK_SERIAL_TIME 500
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#define BLINK_PPM_TIME 1000
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#define BLINK_BAD_PROTO_TIME_HIGH 50
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#define BLINK_BAD_PROTO_TIME_LOW 1000
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#define BLINK_WAIT_BIND_TIME_HIGH 1000
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#define BLINK_WAIT_BIND_TIME_LOW 100
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//*******************
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//*** AUX flags ***
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//*******************
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#define GET_FLAG(ch, mask) ( ch ? mask : 0)
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#define Servo_AUX1 (Servo_AUX & _BV(0))
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#define Servo_AUX2 (Servo_AUX & _BV(1))
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#define Servo_AUX3 (Servo_AUX & _BV(2))
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#define Servo_AUX4 (Servo_AUX & _BV(3))
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#define Servo_AUX5 (Servo_AUX & _BV(4))
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#define Servo_AUX6 (Servo_AUX & _BV(5))
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#define Servo_AUX7 (Servo_AUX & _BV(6))
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#define Servo_AUX8 (Servo_AUX & _BV(7))
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//************************
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//*** Power settings ***
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//************************
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enum {
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TXPOWER_100uW,
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TXPOWER_300uW,
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TXPOWER_1mW,
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TXPOWER_3mW,
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TXPOWER_10mW,
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TXPOWER_30mW,
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TXPOWER_100mW,
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TXPOWER_150mW
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};
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// A7105 power
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// Power amp is ~+16dBm so:
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enum A7105_POWER
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{
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A7105_POWER_0 = 0x00<<3 | 0x00, // TXPOWER_100uW = -23dBm == PAC=0 TBG=0
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A7105_POWER_1 = 0x00<<3 | 0x01, // TXPOWER_300uW = -20dBm == PAC=0 TBG=1
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A7105_POWER_2 = 0x00<<3 | 0x02, // TXPOWER_1mW = -16dBm == PAC=0 TBG=2
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A7105_POWER_3 = 0x00<<3 | 0x04, // TXPOWER_3mW = -11dBm == PAC=0 TBG=4
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A7105_POWER_4 = 0x01<<3 | 0x05, // TXPOWER_10mW = -6dBm == PAC=1 TBG=5
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A7105_POWER_5 = 0x02<<3 | 0x07, // TXPOWER_30mW = 0dBm == PAC=2 TBG=7
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A7105_POWER_6 = 0x03<<3 | 0x07, // TXPOWER_100mW = 1dBm == PAC=3 TBG=7
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A7105_POWER_7 = 0x03<<3 | 0x07 // TXPOWER_150mW = 1dBm == PAC=3 TBG=7
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};
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#define A7105_HIGH_POWER A7105_POWER_7
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#define A7105_LOW_POWER A7105_POWER_3
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#define A7105_RANGE_POWER A7105_POWER_0
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#define A7105_BIND_POWER A7105_POWER_0
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// NRF Power
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// Power setting is 0..3 for nRF24L01
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// Claimed power amp for nRF24L01 from eBay is 20dBm.
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enum NRF_POWER
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{ // Raw w 20dBm PA
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NRF_POWER_0 = 0x00, // 0 : -18dBm (16uW) 2dBm (1.6mW)
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NRF_POWER_1 = 0x01, // 1 : -12dBm (60uW) 8dBm (6mW)
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NRF_POWER_2 = 0x02, // 2 : -6dBm (250uW) 14dBm (25mW)
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NRF_POWER_3 = 0x03 // 3 : 0dBm (1mW) 20dBm (100mW)
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};
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#define NRF_HIGH_POWER NRF_POWER_2
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#define NRF_LOW_POWER NRF_POWER_1
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#define NRF_RANGE_POWER NRF_POWER_0
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#define NRF_BIND_POWER NRF_POWER_0
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// CC2500 power output from the chip itself
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// The numbers do not take into account any outside amplifier
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enum CC2500_POWER
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{
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CC2500_POWER_0 = 0x00, // –55dbm or less
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CC2500_POWER_1 = 0x50, // -30dbm
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CC2500_POWER_2 = 0x44, // –28dbm
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CC2500_POWER_3 = 0xC0, // –26dbm
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CC2500_POWER_4 = 0x84, // –24dbm
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CC2500_POWER_5 = 0x81, // –22dbm
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CC2500_POWER_6 = 0x46, // –20dbm
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CC2500_POWER_7 = 0x93, // –18dbm
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CC2500_POWER_8 = 0x55, // –16dbm
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CC2500_POWER_9 = 0x8D, // –14dbm
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CC2500_POWER_10 = 0xC6, // -12dbm
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CC2500_POWER_11 = 0x97, // -10dbm
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CC2500_POWER_12 = 0x6E, // -8dbm
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CC2500_POWER_13 = 0x7F, // -6dbm
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CC2500_POWER_14 = 0xA9, // -4dbm
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CC2500_POWER_15 = 0xBB, // -2dbm
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CC2500_POWER_16 = 0xFE, // 0dbm
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CC2500_POWER_17 = 0xFF // +1dbm
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};
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#define CC2500_HIGH_POWER CC2500_POWER_17
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#define CC2500_LOW_POWER CC2500_POWER_13
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#define CC2500_RANGE_POWER CC2500_POWER_1
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#define CC2500_BIND_POWER CC2500_POWER_1
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// CYRF power
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enum CYRF_POWER
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{
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CYRF_POWER_0 = 0x00, // -35dbm
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||
CYRF_POWER_1 = 0x01, // -30dbm
|
||
CYRF_POWER_2 = 0x02, // -24dbm
|
||
CYRF_POWER_3 = 0x03, // -18dbm
|
||
CYRF_POWER_4 = 0x04, // -13dbm
|
||
CYRF_POWER_5 = 0x05, // -5dbm
|
||
CYRF_POWER_6 = 0x06, // 0dbm
|
||
CYRF_POWER_7 = 0x07 // +4dbm
|
||
};
|
||
#define CYRF_HIGH_POWER CYRF_POWER_7
|
||
#define CYRF_LOW_POWER CYRF_POWER_3
|
||
#define CYRF_RANGE_POWER CYRF_POWER_1 // 1/30 of the full power distance
|
||
#define CYRF_BIND_POWER CYRF_POWER_0
|
||
|
||
enum TXRX_State {
|
||
TXRX_OFF,
|
||
TX_EN,
|
||
RX_EN
|
||
};
|
||
|
||
// Packet ack status values
|
||
enum {
|
||
PKT_PENDING = 0,
|
||
PKT_ACKED,
|
||
PKT_TIMEOUT
|
||
};
|
||
|
||
// baudrate defines for serial
|
||
#define SPEED_100K 0
|
||
#define SPEED_9600 1
|
||
#define SPEED_57600 2
|
||
#define SPEED_125K 3
|
||
|
||
/** EEPROM Layout */
|
||
#define EEPROM_ID_OFFSET 10 // Module ID (4 bytes)
|
||
#define EEPROM_ID_VALID_OFFSET 20 // 1 byte flag that ID is valid
|
||
#define MODELMODE_EEPROM_OFFSET 30 // Autobind mode, 1 byte per model, end is 46
|
||
#define AFHDS2A_EEPROM_OFFSET 50 // RX ID, 4 byte per model id, end is 114
|
||
#define CONFIG_EEPROM_OFFSET 120 // Current configuration of the multimodule
|
||
|
||
|
||
//****************************************
|
||
//*** MULTI protocol serial definition ***
|
||
//****************************************
|
||
/*
|
||
**************************
|
||
16 channels serial protocol
|
||
**************************
|
||
Serial: 100000 Baud 8e2 _ xxxx xxxx p --
|
||
Total of 26 bytes
|
||
Stream[0] = 0x55 sub_protocol values are 0..31
|
||
Stream[0] = 0x54 sub_protocol values are 32..63
|
||
header
|
||
Stream[1] = sub_protocol|BindBit|RangeCheckBit|AutoBindBit;
|
||
sub_protocol is 0..31 (bits 0..4), value should be added with 32 if Stream[0] = 0x54
|
||
=> Reserved 0
|
||
Flysky 1
|
||
Hubsan 2
|
||
FrskyD 3
|
||
Hisky 4
|
||
V2x2 5
|
||
DSM 6
|
||
Devo 7
|
||
YD717 8
|
||
KN 9
|
||
SymaX 10
|
||
SLT 11
|
||
CX10 12
|
||
CG023 13
|
||
Bayang 14
|
||
FrskyX 15
|
||
ESky 16
|
||
MT99XX 17
|
||
MJXQ 18
|
||
SHENQI 19
|
||
FY326 20
|
||
SFHSS 21
|
||
J6PRO 22
|
||
FQ777 23
|
||
ASSAN 24
|
||
FrskyV 25
|
||
HONTAI 26
|
||
OpenLRS 27
|
||
AFHDS2A 28
|
||
Q2X2 29
|
||
WK2x01 30
|
||
Q303 31
|
||
GW008 32
|
||
DM002 33
|
||
CABELL 34
|
||
BindBit=> 0x80 1=Bind/0=No
|
||
AutoBindBit=> 0x40 1=Yes /0=No
|
||
RangeCheck=> 0x20 1=Yes /0=No
|
||
Stream[2] = RxNum | Power | Type;
|
||
RxNum value is 0..15 (bits 0..3)
|
||
Type is 0..7 <<4 (bit 4..6)
|
||
sub_protocol==Flysky
|
||
Flysky 0
|
||
V9x9 1
|
||
V6x6 2
|
||
V912 3
|
||
CX20 4
|
||
sub_protocol==Hisky
|
||
Hisky 0
|
||
HK310 1
|
||
sub_protocol==DSM
|
||
DSM2_22 0
|
||
DSM2_11 1
|
||
DSMX_22 2
|
||
DSMX_11 3
|
||
DSM_AUTO 4
|
||
sub_protocol==YD717
|
||
YD717 0
|
||
SKYWLKR 1
|
||
SYMAX4 2
|
||
XINXUN 3
|
||
NIHUI 4
|
||
sub_protocol==KN
|
||
WLTOYS 0
|
||
FEILUN 1
|
||
sub_protocol==SYMAX
|
||
SYMAX 0
|
||
SYMAX5C 1
|
||
sub_protocol==CX10
|
||
CX10_GREEN 0
|
||
CX10_BLUE 1 // also compatible with CX10-A, CX12
|
||
DM007 2
|
||
--- 3
|
||
JC3015_1 4
|
||
JC3015_2 5
|
||
MK33041 6
|
||
sub_protocol==Q2X2
|
||
Q222 0
|
||
Q242 1
|
||
Q282 2
|
||
sub_protocol==SLT
|
||
SLT 0
|
||
VISTA 1
|
||
sub_protocol==CG023
|
||
CG023 0
|
||
YD829 1
|
||
H8_3D 2
|
||
sub_protocol==BAYANG
|
||
BAYANG 0
|
||
H8S3D 1
|
||
X16_AH 2
|
||
sub_protocol==MT99XX
|
||
MT99 0
|
||
H7 1
|
||
YZ 2
|
||
LS 3
|
||
FY805 4
|
||
sub_protocol==MJXQ
|
||
WLH08 0
|
||
X600 1
|
||
X800 2
|
||
H26D 3
|
||
E010 4
|
||
H26WH 5
|
||
sub_protocol==FRSKYX
|
||
CH_16 0
|
||
CH_8 1
|
||
EU_16 2
|
||
EU_8 3
|
||
sub_protocol==HONTAI
|
||
FORMAT_HONTAI 0
|
||
FORMAT_JJRCX1 1
|
||
FORMAT_X5C1 2
|
||
FORMAT_FQ777_951 3
|
||
sub_protocol==AFHDS2A
|
||
PWM_IBUS 0
|
||
PPM_IBUS 1
|
||
PWM_SBUS 2
|
||
PPM_SBUS 3
|
||
sub_protocol==V2X2
|
||
V2X2 0
|
||
JXD506 1
|
||
sub_protocol==FY326
|
||
FY326 0
|
||
FY319 1
|
||
sub_protocol==WK2x01
|
||
WK2801 0
|
||
WK2401 1
|
||
W6_5_1 2
|
||
W6_6_1 3
|
||
W6_HEL 4
|
||
W6_HEL_I 5
|
||
sub_protocol==Q303
|
||
Q303 0
|
||
CX35 1
|
||
CX10D 2
|
||
CX10WD 3
|
||
sub_protocol==CABELL
|
||
CABELL_V3 0
|
||
CABELL_V3_TELEMETRY 1
|
||
CABELL_SET_FAIL_SAFE 6
|
||
CABELL_UNBIND 7
|
||
|
||
Power value => 0x80 0=High/1=Low
|
||
Stream[3] = option_protocol;
|
||
option_protocol value is -128..127
|
||
Stream[4] to [25] = Channels
|
||
16 Channels on 11 bits (0..2047)
|
||
0 -125%
|
||
204 -100%
|
||
1024 0%
|
||
1843 +100%
|
||
2047 +125%
|
||
Channels bits are concatenated to fit in 22 bytes like in SBUS protocol
|
||
*/
|
||
/*
|
||
Multimodule Status
|
||
Based on #define MULTI_STATUS
|
||
|
||
Serial: 100000 Baud 8e2 (same as input)
|
||
|
||
Format: header (2 bytes) + data (variable)
|
||
[0] = 'M' (0x4d)
|
||
[1] Length (excluding the 2 header bytes)
|
||
[2-xx] data
|
||
|
||
Type = 0x01 Multimodule Status:
|
||
[2] Flags
|
||
0x01 = Input signal detected
|
||
0x02 = Serial mode enabled
|
||
0x04 = protocol is valid
|
||
0x08 = module is in binding mode
|
||
0x10 = module waits a bind event to load the protocol
|
||
[3] major
|
||
[4] minor
|
||
[5] revision
|
||
[6] patchlevel,
|
||
version of multi code, should be displayed as major.minor.revision.patchlevel
|
||
*/
|
||
/*
|
||
Multiprotocol telemetry/command definition for OpenTX
|
||
Based on #define MULTI_TELEMETRY enables OpenTX to get the multimodule status and select the correct telemetry type automatically.
|
||
|
||
Serial: 100000 Baud 8e2 (same as input)
|
||
|
||
TLV Protocol (type, length, value), allows a TX to ignore unknown messages
|
||
|
||
Format: header (4 byte) + data (variable)
|
||
[0] = 'M' (0x4d)
|
||
[1] = 'P' (0x50)
|
||
|
||
The first byte is deliberatly chosen to be different from other telemetry protocols
|
||
(e.g. 0xAA for DSM/Multi, 0xAA for FlySky and 0x7e for Frsky) to allow a TX to detect
|
||
the telemetry format of older versions
|
||
|
||
[2] Type (see below)
|
||
[3] Length (excluding the 4 header bytes)
|
||
|
||
[4-xx] data
|
||
|
||
Commands from TX to multi cannot be longer than 22 bytes (RXLen -4byte header)
|
||
|
||
Type = 0x01 Multimodule Status:
|
||
[4] Flags
|
||
0x01 = Input signal detected
|
||
0x02 = Serial mode enabled
|
||
0x04 = protocol is valid
|
||
0x08 = module is in binding mode
|
||
0x10 = module waits a bind event to load the protocol
|
||
[5] major
|
||
[6] minor
|
||
[7] revision
|
||
[8] patchlevel,
|
||
version of multi code, should be displayed as major.minor.revision.patchlevel
|
||
|
||
more information can be added by specifing a longer length of the type, the TX will just ignore these bytes
|
||
|
||
|
||
Type 0x02 Frksy S.port telemetry
|
||
Type 0x03 Frsky Hub telemetry
|
||
|
||
*No* usual frsky byte stuffing and without start/stop byte (0x7e)
|
||
|
||
|
||
Type 0x04 Spektrum telemetry data
|
||
data[0] RSSI
|
||
data[1-15] telemetry data
|
||
|
||
Type 0x05 DSM bind data
|
||
data[0-16] DSM bind data
|
||
|
||
technically DSM bind data is only 10 bytes but multi sends 16
|
||
like with telemtery, check length field)
|
||
|
||
Type 0x06 Flysky AFHDS2 telemetry data
|
||
length: 29
|
||
data[0] = RSSI value
|
||
data[1-28] telemetry data
|
||
|
||
|
||
Type 0x08 Input synchronisation
|
||
Informs the TX about desired rate and current delay
|
||
length: 4
|
||
data[0-1] Desired refresh rate in µs
|
||
data[2-3] Time (µs) between last serial servo input received and servo input needed (lateness), TX should adjust its
|
||
sending time to minimise this value.
|
||
data[4] Interval of this message in ms
|
||
data[5] Input delay target in 10µs
|
||
|
||
Note that there are protocols (AFHDS2A) that have a refresh rate that is smaller than the maximum achievable
|
||
refresh rate via the serial protocol, in this case, the TX should double the rate and also subract this
|
||
refresh rate from the input lag if the input lag is more than the desired refresh rate.
|
||
|
||
The remote should try to get to zero of (inputdelay+target*10).
|
||
|
||
Commands from TX to module use values > 127 for command type
|
||
|
||
Type 0x80 Module Configuration
|
||
This sent from the TX to Multi to configure inversion and multi telemetry type
|
||
length: 1
|
||
data[0] flags
|
||
0x01 Telemetry inversion (1 = inverted)
|
||
0x02 Use Multi telemetry protocol (if 0 use multi status)
|
||
0x04 Send extra telemetry (type 0x08) to allow input synchronisation
|
||
|
||
|
||
Type 0x81 Failsafe data
|
||
length: 23
|
||
data[0] Failsafe mode:
|
||
0 - Failsafe not set
|
||
1 - Failsafe hold, keep last received values
|
||
2 - Failsafe custom, use the values from the channels
|
||
3 - Failsafe nopulses, stop sending pulses from the receiver
|
||
4 - Failsafe receiver, use receiver stored values
|
||
|
||
Many of these many modes don't work with all protocols, fallback to best
|
||
available method
|
||
data[1-22] Failsafe data, encoded like normal channel data, with the expection
|
||
that 0 means hold for that channel and 2047 means no pulses
|
||
|
||
*/
|